31 lines
787 B
XML
31 lines
787 B
XML
<robot name="ur5_stand">
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<link name="ur5_stand">
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<inertial>
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<mass value="1.0" />
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<origin xyz="0 0 0" />
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<inertia ixx="0.0003375" ixy="0.0" ixz="0.0" iyy="0.0003375" iyz="0.0" izz="0.0003375" />
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</inertial>
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<collision name="collision">
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<geometry>
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<mesh filename="package://objects/mesh/UR_BANCHETTO1.dae" />
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<mesh filename="package://objects/mesh/UR_BANCHETTO1.dae" />
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</geometry>
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<material name="white">
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<color rgba="1 1 1 1.0"/>
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</material>
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</visual>
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</link>
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<gazebo reference="surgical_tool">
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<material> Gazebo/WoodPallet</material>
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<mu1>1000</mu1>
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<mu2>1000</mu2>
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</gazebo>
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</robot>
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